<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.12"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Os1: /home/alejandro/Desarrollo eclipse/os1/include/KeyFrameDatabase.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<script type="text/javascript">
  $(document).ready(initResizable);
</script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Os1
   &#160;<span id="projectnumber">1</span>
   </div>
   <div id="projectbrief">OrbSlam2 documentado y modificado</div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.12 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
$(function() {
  initMenu('',true,'Search');
  $(document).ready(function() { init_search(); });
});
</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
$(document).ready(function(){initNavTree('_key_frame_database_8h_source.html','');});
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">KeyFrameDatabase.h</div>  </div>
</div><!--header-->
<div class="contents">
<a href="_key_frame_database_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#ifndef KEYFRAMEDATABASE_H</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#define KEYFRAMEDATABASE_H</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &lt;list&gt;</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#include &lt;set&gt;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_key_frame_8h.html">KeyFrame.h</a>&quot;</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_frame_8h.html">Frame.h</a>&quot;</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_o_r_b_vocabulary_8h.html">ORBVocabulary.h</a>&quot;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#include&lt;mutex&gt;</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;{</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="keyword">class </span>KeyFrame;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="keyword">class </span>Frame;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html">   46</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html">KeyFrameDatabase</a></div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#a83495a11d1fb3cd98e82fa1e2efb6920">KeyFrameDatabase</a>(<span class="keyword">const</span> <a class="code" href="class_d_bo_w2_1_1_templated_vocabulary.html">ORBVocabulary</a> &amp;voc);</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#a1b3a362116e3ecf2cd7e151be2ca3fcb">add</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pKF);</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#aa5b56ae1d1cb827fb4602abd61d77a06">erase</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pKF);</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#a3eccf99ba2e387d0273f919fd0574ea2">clear</a>();</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="comment">// Loop Detection</span></div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    std::vector&lt;KeyFrame *&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#a2d396aae02c4318ea8c7e7eff8059c69">DetectLoopCandidates</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pKF, <span class="keywordtype">float</span> minScore);</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="comment">// Relocalization</span></div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    std::vector&lt;KeyFrame*&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#a008586e4d07ece0d948d0f1633447a2b">DetectRelocalizationCandidates</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html">Frame</a>* F);</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="comment">// Associated vocabulary</span></div><div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#ad11a653313a5f0ef6f6fbc4880df0b7d">  104</a></span>&#160;    <span class="keyword">const</span> <a class="code" href="class_d_bo_w2_1_1_templated_vocabulary.html">ORBVocabulary</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#ad11a653313a5f0ef6f6fbc4880df0b7d">mpVoc</a>;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="comment">// Inverted file</span></div><div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#a3b6d73823fcd1b96f3ba5a66be0b2227">  114</a></span>&#160;    std::vector&lt;list&lt;KeyFrame*&gt; &gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#a3b6d73823fcd1b96f3ba5a66be0b2227">mvInvertedFile</a>;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="comment">// Mutex</span></div><div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#a31fc30f1474b8c97d81c96135e6912a1">  117</a></span>&#160;    std::mutex <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#a31fc30f1474b8c97d81c96135e6912a1">mMutex</a>;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;};</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;} <span class="comment">//namespace ORB_SLAM</span></div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html">ORB_SLAM2::Frame</a></div><div class="ttdoc">Frame representa un cuadro, una imagen, con los puntos singulares detectados. </div><div class="ttdef"><b>Definition:</b> Frame.h:59</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_database_html_a3b6d73823fcd1b96f3ba5a66be0b2227"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#a3b6d73823fcd1b96f3ba5a66be0b2227">ORB_SLAM2::KeyFrameDatabase::mvInvertedFile</a></div><div class="ttdeci">std::vector&lt; list&lt; KeyFrame * &gt; &gt; mvInvertedFile</div><div class="ttdoc">Cada elemento del vector corresponde a una palabra del vocabulario BoW. </div><div class="ttdef"><b>Definition:</b> KeyFrameDatabase.h:114</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_database_html_a2d396aae02c4318ea8c7e7eff8059c69"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#a2d396aae02c4318ea8c7e7eff8059c69">ORB_SLAM2::KeyFrameDatabase::DetectLoopCandidates</a></div><div class="ttdeci">std::vector&lt; KeyFrame * &gt; DetectLoopCandidates(KeyFrame *pKF, float minScore)</div><div class="ttdoc">A partir de un KeyFrame intenta detectar un bucle. </div><div class="ttdef"><b>Definition:</b> KeyFrameDatabase.cc:75</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_database_html_a008586e4d07ece0d948d0f1633447a2b"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#a008586e4d07ece0d948d0f1633447a2b">ORB_SLAM2::KeyFrameDatabase::DetectRelocalizationCandidates</a></div><div class="ttdeci">std::vector&lt; KeyFrame * &gt; DetectRelocalizationCandidates(Frame *F)</div><div class="ttdoc">Intenta relocalizar a partir de un cuadro. </div><div class="ttdef"><b>Definition:</b> KeyFrameDatabase.cc:200</div></div>
<div class="ttc" id="_key_frame_8h_html"><div class="ttname"><a href="_key_frame_8h.html">KeyFrame.h</a></div></div>
<div class="ttc" id="class_d_bo_w2_1_1_templated_vocabulary_html"><div class="ttname"><a href="class_d_bo_w2_1_1_templated_vocabulary.html">DBoW2::TemplatedVocabulary</a></div><div class="ttdoc">Generic Vocabulary. </div><div class="ttdef"><b>Definition:</b> TemplatedVocabulary.h:44</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">ORB_SLAM2::KeyFrame</a></div><div class="ttdoc">Cuadro clave, keyframe. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:79</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_database_html_a31fc30f1474b8c97d81c96135e6912a1"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#a31fc30f1474b8c97d81c96135e6912a1">ORB_SLAM2::KeyFrameDatabase::mMutex</a></div><div class="ttdeci">std::mutex mMutex</div><div class="ttdef"><b>Definition:</b> KeyFrameDatabase.h:117</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_database_html_ad11a653313a5f0ef6f6fbc4880df0b7d"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#ad11a653313a5f0ef6f6fbc4880df0b7d">ORB_SLAM2::KeyFrameDatabase::mpVoc</a></div><div class="ttdeci">const ORBVocabulary * mpVoc</div><div class="ttdoc">Vocabulario BoW. </div><div class="ttdef"><b>Definition:</b> KeyFrameDatabase.h:104</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_database_html_aa5b56ae1d1cb827fb4602abd61d77a06"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#aa5b56ae1d1cb827fb4602abd61d77a06">ORB_SLAM2::KeyFrameDatabase::erase</a></div><div class="ttdeci">void erase(KeyFrame *pKF)</div><div class="ttdoc">Borra un KeyFrame de la base de datos. </div><div class="ttdef"><b>Definition:</b> KeyFrameDatabase.cc:47</div></div>
<div class="ttc" id="namespace_o_r_b___s_l_a_m2_html"><div class="ttname"><a href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a></div><div class="ttdoc">This file is part of ORB-SLAM2. </div><div class="ttdef"><b>Definition:</b> Converter.h:31</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_database_html_a83495a11d1fb3cd98e82fa1e2efb6920"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#a83495a11d1fb3cd98e82fa1e2efb6920">ORB_SLAM2::KeyFrameDatabase::KeyFrameDatabase</a></div><div class="ttdeci">KeyFrameDatabase(const ORBVocabulary &amp;voc)</div><div class="ttdoc">Constructor que dimensiona mvInvertedFile del mismo tamaño del vocabulario. </div><div class="ttdef"><b>Definition:</b> KeyFrameDatabase.cc:32</div></div>
<div class="ttc" id="_o_r_b_vocabulary_8h_html"><div class="ttname"><a href="_o_r_b_vocabulary_8h.html">ORBVocabulary.h</a></div></div>
<div class="ttc" id="_frame_8h_html"><div class="ttname"><a href="_frame_8h.html">Frame.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_database_html_a1b3a362116e3ecf2cd7e151be2ca3fcb"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#a1b3a362116e3ecf2cd7e151be2ca3fcb">ORB_SLAM2::KeyFrameDatabase::add</a></div><div class="ttdeci">void add(KeyFrame *pKF)</div><div class="ttdoc">Agrega un KeyFrame a la base de datos. </div><div class="ttdef"><b>Definition:</b> KeyFrameDatabase.cc:39</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_database_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html">ORB_SLAM2::KeyFrameDatabase</a></div><div class="ttdoc">Lista invertida de KeyFrames, accesible por BoW. </div><div class="ttdef"><b>Definition:</b> KeyFrameDatabase.h:46</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_database_html_a3eccf99ba2e387d0273f919fd0574ea2"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#a3eccf99ba2e387d0273f919fd0574ea2">ORB_SLAM2::KeyFrameDatabase::clear</a></div><div class="ttdeci">void clear()</div><div class="ttdoc">Libera su memoria, invocado desde Tracking::Reset. </div><div class="ttdef"><b>Definition:</b> KeyFrameDatabase.cc:68</div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="_key_frame_database_8h.html">KeyFrameDatabase.h</a></li>
    <li class="footer">Generated by
    <a href="http://www.doxygen.org/index.html">
    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.12 </li>
  </ul>
</div>
</body>
</html>
